Vibration suppression for uprising control of two-wheel driven wheelchair

Takuro Kawamura, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

The wheelchair is an important vehicle for handicapped and aged people. But traditional wheelchairs have two problems, low mobility and difficultly of going over steps. These problems are caused by their two front casters. To solve these problems, two-wheel driven wheelchair which has no caster was proposed. By the past research, it can keep stable attitude by the stabilization control, and turn by the turning control. However, because riders get on after the wheelchair is stabilized horizontally, it is easy to lose a balance by disturbance when a rider gets on. In this paper, the uprising control of two-wheel driven wheelchair is proposed. Pitch angle disturbance observer (PADO) and Lyapunov-based controller are utilized to realize uprising and stabilization. In order to suppress the vibrations, the variable gain is proposed. By the proposed control method, riders can get on two-wheel driven wheelchair easily.

Original languageEnglish
Title of host publicationProceedings
Subtitle of host publicationIECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society
Pages3323-3328
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 1
Event37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011 - Melbourne, VIC, Australia
Duration: 2011 Nov 72011 Nov 10

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011
CountryAustralia
CityMelbourne, VIC
Period11/11/711/11/10

Keywords

  • Lyapunov-based control
  • Pitch angle disturbance observer (PADO)
  • Two-wheel driven wheelchair
  • Uprising control
  • Variable gain

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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